Position not reachable

    Help on G:1 Fault Please.


    In Roboguide, I created user tool and frame, tested in POSN screen.

    Set x,y,z,w,p,r to 0.0, selected user frame, clicked Move to, robot has no issue moving to this point with these settings.


    Created a test program:


    11: UTOOL_NUM=1 ;

    12: UFRAME_NUM=2 ;

    14: PR[3,1:PckCnv]=0 ;

    15: PR[3,2:PckCnv]=0 ;

    16: PR[3,3:PckCnv]=0 ;

    17: PR[3,4:PckCnv]=0 ;

    18: PR[3,5:PckCnv]=0 ;

    19: PR[3,6:PckCnv]=0 ;

    20:L PR[3:PckCnv] 100mm/sec FINE ;


    Line 20 give fault Position not reachable.

    I touched up the position with all values at 0 and all went fine with offsets entered in test program.

    Something to do with F U T, or [REPRE]


    All good now.

    Fabian,


    Thanks for replying, please see attached.

    My question is, if just create the test program as shown earlier, there are no values in the PR[3] then would this be the problem?



    If user frame is 0,, with those values the robot TCP will be going right inside itself which is impossible (self mutilation)


    Write lets say 500 on the X (I don't know how big your robot is) and see where the robot goes


    Try this, teach PR[3] anywhere , then start replacing the values one the time and see what the goes


    What kind of robot do you have ?


    NDB No flip, Elbow Down Elbow Back

    Retired but still helping

    FYI,


    /PROG PICKCONV

    1: UFRAME_NUM=2 ;

    2: UTOOL_NUM=1 ;

    3: CALL PCKCNVOFST ;

    4:L PR[6:PckCnvApp01] 100mm/sec FINE ;

    5: ;

    6:L PR[8:PckCnv] 100mm/sec FINE ;

    7: ;

    8:L PR[10:PckCnvDep01] 100mm/sec FINE ;



    /PROG PCKCNVOFST

    1: PR[6,1:PckCnvApp01]=0 ;

    2: PR[6,2:PckCnvApp01]=0 ;

    3: PR[6,3:PckCnvApp01]=(-200) ;

    4: PR[6,4:PckCnvApp01]=0 ;

    5: PR[6,5:PckCnvApp01]=0 ;

    6: PR[6,6:PckCnvApp01]=0 ;

    7: ;

    8: PR[8,1:PckCnv]=0 ;

    9: PR[8,2:PckCnv]=0 ;

    10: PR[8,3:PckCnv]=0 ;

    11: PR[8,4:PckCnv]=0 ;

    12: PR[8,5:PckCnv]=0 ;

    13: PR[8,6:PckCnv]=0 ;

    14: ;

    15: PR[10,1:PckCnvDep01]=0 ;

    16: PR[10,2:PckCnvDep01]=0 ;

    17: PR[10,3:PckCnvDep01]=1100 ;

    18: PR[10,4:PckCnvDep01]=0 ;

    19: PR[10,5:PckCnvDep01]=0 ;

    20: PR[10,6:PckCnvDep01]=0 ;

    Hello again,


    Think I found my issues:

    In Roboguide when create say machine (box) the world coordinate system is on the floor center of robot.

    Robot world coordinate z is center of robot and 0 is up center axis 2 servo motors.


    So when I created a frame direct entry the z value referenced from floor and this would be incorrect.


    Correct me if you think different.

    Can we keep this discussion going? What is the process to fix this? Let's say my drop point is in a machine and you have to use FUT and get position not reachable. Do I modify the perch position before that? Would really like a step-by-step method to fix this, bc it isn't the first time it's happened, and I never really remember how I solved it.

    Thanks

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